Automatic regulator and method



s. D. MITEREFF 2,020,847

AUTOMATIC REGULATOR AND METHOD Filed Jan. 17, 1931 'T Sheets-Sheet l Nov. 12, 1935.

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Nov. l2, 1935. s, D, M|TEREFF Y i 2,020,847

AUTOMATIC REGULATOR AND METHOD Filed Jan. 17, 1931 7 sheets-sheet 4 VGT ,GN j /00/ i o l- 9.9 pff ya? 97 7 Q 46 da; Z fg /06 'ohi /07 Y O 1- 20 /u g A Qzgz?. -Wy/ @w QW ww" Nov. 12, 1935. s. D. MITEREFF AUTOMATIC REGULATOR AND METHOD 7 Sheets-Sheet 5 Filed Jan. 17, 1931 as? CMQ ummm,

NOV. l2, 1935. s, D,M1TEREFF 2,020,8547

AUTOMATIC REGULTOR AND METHOD Filed Jan. 17, 1951 4 '7 Sheets-Sheet 6 Nov. 12, 1935. s. D, MITEREFF 2,020,847

AUTOMATIC REGULATOR AND METHOD Filed Jan. 17, 1951 7 heats-sheet 7 ,ab @M- Patented Nov. 12, 1935 C,PATENT OFFICE 19 Claims.

' This invention relates a method oi and apparatus for maintaining, in a given system, a,

variable element constant within desired limits,

' which element is either a direct or indirect function of power supply (or demand) ln this system,

. and has special reference to the automatic convlater (whether the trol of this power supply (whether the same be derived from duid, electrical, kinetic, gravitational, thermal, chemical or other sources),- by a regulator responsive to variations in the intensity ot impulsive power supplied to the regusame be derived `from iluid, gravitational, lthermal. chemisources), which impulsive power is electrical, kinetic, 4cal or-other either a variable element.

are two factors to the variations in the 'intensity o! thls'impulsive power.

This power variation maybe viewed as changes in magnitude irrespective of the time taken for the-change or as changes in the time necessary w eil'ect the, variation ot a given magnitude.

'That is, there existsfin every variation of this class a change in magnitude of variation and a change in velocity of variation.

The present method involves the combination ol 'variations in both the magnitude and the velocityol the impulsive power for the purpose of oontrollingrpower supply to a translating device arranged to etfect the desired result. d

It is here to be noted that the impulsive power may b'e olone i'orm while the translating device may use'a second form oi' power, or the `power supplied to the translatingdevice may be con- Vtlolled by its own variations.

As' typical of the nrst condition the variationsl l in .impulsive power may be those dueto variavp ovnsr controlled may be the power,

'motor or boiler draft blower serving lating device and utilized to control the steam tbns-in the steam pressure in a boiler while the ot whatever character, used in `the operation production in the boiler and thus', by the control of. the translating device, to maintain constant ,pressure in the boiler.

as typical oi theffs'econd condition the variations acting as controls Y maybe those occurring in the steam supply to a translating device in the form of aspillover valve, arranged to keep the constant pressure' on its upstream side.

.The apparatus used as a regulator effectively combines both magnitude and 'velocity of variations in a given power supply as a controlling imply'.

m'ean's tor the same or another' type o( POWI direct a1-indirect function or th above In this regulator the primary effects of `both the changes of magnitude and of changes of velocity are combined in such a way as to proy my rate responsive regulator can be expressed 10 mathematically as follows:

F1=k1P---a dP 2 F= k=( (B) u F3=k2 g; au

2 k.F=F1+n=1nP+k(-f,'-) (C) n dP kgF=Fl+Fg=kxP+kg I Where:

P-"Deviation of the primary impulse from its u normal value. l

Fi-One intermediate eiect. Fz-Another intermediate effect. F=Final eil'ect'of the regulator. n T-Time. n d-Matheinatical symbol used in calculus designating an innitesimally small increment.

k1; kz; Vlcs-Arbitrary constants depending upon y the adjustment ofthe regulator. Notes: 35 Equations (B) and (C) refer to regulator which'has a dash pot type of the rate responsive -element. Equations (B') andv (C refer to a regulator which has a solenoid type of the rate responsive element o 'Thi's'expression designates the square of the absolute value oi the ratio (g5 ar but does not aiifect its sign.

lstics has several fundamental advantages over the type of regulation obtained even with the @est power tlow regulators known to the art previous to this invention, since iirst of all, its rate characteristic counteracts entirely the eiIect oi.' 5l

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The energy supplied `to the prime mover may be either in potentform such as electricity or in latent form carried by fluids such, for example, as steam, water under pressure. compressed air,

fuel oil, depending upon the character of the' prime mover.

The third essential quantity of power flow regulation, namely the amount of power in storage is represented by the kinetic energy of the prime mover and the system connected to it.

The rotative speed of the prime mover is vthe physical quantity indicating the amount of energy so stored and from which the speed regulator derives its impulses.

Example lvm-Temperatre control In' this case the outflow or demand upon the ythermal energy of a ,body is ordinarily an independent variable and therefore the inflow or supply of thermal energy or power is under the control of an automatic regulator which responds to the temperature of the body which it is desired to maintain constant.

'I'he supply of thermal energy' can beA either in direct form as such or in the latent form carried by fuel or by sensible heat of fluids at an elevated temperature.

'I'he storage factor is represented by the heat storing capacity of the body while the temperature of the body being proportional toth'e amount of heat stored is the physical quantity indicating the amount of heat stored which gives rise to the impulses actuatingthe temperature regulator.

Example V.'-Combustion control of a steam 'generator In this casethe steam output-of a. generator is the independent variable power outflow, whereas' the input of heat energy, in latent form-of mixture of fuel and air, is the inflow under the control of the combustion regulator responding to the pressure in the steam generator. The pressure in this case ls a physical quantity prop ortlonal to the amount of heat'stored in the steam generator.

Example V'I.Cl'onstant flow regulation In .this case it is desired to keep constant the fluid flow in a conduit in spite of a fluctuating pressure or potential producing this flow.

'lhe regulator controls the flow by means of a valve and it receives its impulses direct from the flow itself in the form of velocity head in the conduit as measured by the Pitot tube, Venturi tube or other suitable means.

In this instance4 the storage factor is repre-y l. cially adapted for any power ilow regulation dealing with inflow. outflow 'and storage and since as is shownV by the abovejexamples all automatic power control problems fall underthis classiflcation, it follows that the field of applicationyof my regulator is universal and is in no way limited to those specific cases which will be cited for convenience only in describing the detailed construc- 5 tion and operation of the few preferred medidcations of my regulator.

It follows also from the foregoing explanation that the basic difference between. my regulatorI and all other power ow regulators is not in the field of possible application but in the manner in which my rate responsive regulator responds to the impulses sent to it, either. `in the form of fluid pressure through'pilot lilies, or in the form of force transmitted by leverage, or in the form of electricity transmitted by wires, or in any other suitable form known to the art.

My regulator responds not only to the deviation of the impulse-sending quantity from the normal but also and primarily to the velocity at which this quantity is increasing or decreasing.

The importance and advantages of this manner of response can be better appreciated by those skilled in the art from the following l reasoning. 25

It follows from the law of conservation of matter and energy that if the amount of power stored in a receptacle or translating device having variable inflow and outflow is constant, it means that the inow is equal. at any given moment to'so outflow.

Conversely, any difference between inflow and outflow is bound to result in the changing amount of powerr in storage.

. The most significant fact in. connection with u my regulator is that the rate or, in other words, the speed atwhich the amount of power in storage evidenced by the. controlled quantity (i. e. pressure, level, temperature; speed, etc); is increasing or decreasing is directly proportional to the di'erence between power inflow and outow. All. other flow regulators respond in one' way er another only to the amount or sometimes even only to the sign of deviation of the controlled quantity from the normal Without responding at Y all directly and distinctly, as -does' my regulator,

to the rate of change of the controlled quantity.

In this way an ordinary regulator is contingent for its very operation upon the deviation of the controlled quantity from its normal value with the result that the wider are the uctuations in the power flow, the wider must be deviations of the controlled quantity from its normal value to produce impulses large enough to operate the .regulator through the range or with the speed required. f l

`Since my regulator has primarily a straight line or so called proportional position characteristic" in respect tothe-rate ofv change of controlled quantity and since this rate isproportional to 50 the difference between'lnilcw and outflow, it follows that the moment the controlled quantity begins to changent a certain rate my regulator, if properly adjustecLwill immediately produce a controlling eil'ect (such as movement of valve. for l55 instance) which willequalize the-inflow with/ outow vand thus will maintain the controlled quantityconstant irrespective cf the magnitude of variation of the uncontrolled fluid ilow, anticipating rather than depending for its operation upon de nite deviations of the controlled quantity from its normal value.

If, however, in spite of operation of theirate responsive feature of my regulator, there still exists some deviation of the controlled quantityfmm its either for control purposes (that is for moving the valve in this particular instance) as can be made to' act'as an impulse for another rate responsive regulator whose eiIect will have, there- A fore, a regular rate characteristic (as dened in Equations (C)l or (`C') of this specification) in respect to ^impulses at their source, notwithstanding the delay caused by along pilot line, and the effect of the second regulator so obtained could be used for ow regulating purposes. l5 In-order to make apparent the physical means designed-byme to accomplish allthe results so far only theoretically outlined above, reference is made to drawings attached to this specification, which illustrate more .or less schematically the principal parts of my rate responsive regulator and of 'certain preferred modincations thereof.

In the accompanying drawings like characters of reference indicate like parts in the several views.

Figure 1 is avertical sectional view of one form' of regulator constructed in accordance with this invention and shown as actuated by and controlling uid'flowing through a pipe. j -Figure 2 is a similar view showing a second form of such regulator.

Figure 3 is a similar view showing a third form of the regulator. Figure#b is a detail section showing the upper part or the regulator as used to control the level v Aof uid inV atank.

Figure v5 is a detailshowing the manner in whichtheregulatorcan be .applied for'the constant uld ilow control.

Figure 6 is adetail showing the manner of atq `taclng the regulator to a governor device of a '5 steam engine or other prime mover for the regulation of the power supply to the prime mover.

' i Ii'igux'e 'I is a detail showing a second method for maintaining water level in a tank.

P igure isa' detail showing apparatus used in connection with a-rotary shaft v.Iligure 9 is a detail'disclsing the applicationA of the regulator to-a temperature control.

Figure- 10 is a. detail showing certain parts used in.- connection 'with the control of currentfor a motor or other electrical translating device. -li'igure 11 is a view of a solenoid type 0fthe rate responsive element proper f the regulator. Figure 12 is a detail of 'a certain valve device susedherewithf-IN- Figuren is adetail'of a modiiiedvalve device.

Inv each of the regulators here used there.,is empled n. cylinder Il, wherein is apiston I| g'ajrod I2 which. projects upwardly IY lltumng box I3. 5A Chest Il is arranged at oneside of the cylinder Il and therewiththrough ports ,'Ii'

unha is andthe ma n' miem' into the lower I partofthiscasing. Ineachoftheformsshown .iiirigureslli,and?. a-pre'ssurecellIiisilxedtol the top ofthe frame and across this cell'extnds Il against 4the opposite sides of which are platesi.. and projecting or in each embodiment 0f the invention vell I'I below the diaphragm.

n inthe-form or the :ppm-ahh diseiosdm Figframeor casing II- projects upwardly. vfromgthe ure l, a lever 22 extends through the casing IB and is pivoted thereto at 23. The inner end of this lever is carried by the rod I2 and 'the outer end of the lever is shown as connected to a valve, 24 controlling the ow of fluid through a pipe 25 g which represents a supply pipe` to a device to be governed. On the upper end of the rod I2 is mounted a dash pot 26 having a controlling valve 21. In this dash pot moves a piston 28 carrying -an upwardly projecting rod 29. Fixedto the 10 frame I6 is a second or lower pressure cell 30 similar in construction and arrangement to the cell I1 and having a stem 3i corresponding to the stem 20 in the upper cell, the two st ems 20 and 3l being vertically alined. A fulcrumi32 projects 15 upwardly from one side of the cell j3i) and 0n this fulcrum is balanced a lever 33 having a long arm which extends diametrically across theV cell 30 and has the stem 20 resting thereon. An arm 34 projects from the cell 30 beneath the short arm 20 of lever 33 and connected toarm`34 and lever 33 is a tension spring 35 provided with adjusting means 36. Counterweights 31 may also-be suspended from this short arm. The stem 3i projects downwardly into-the upper end of a stirrup 2`5 or link 38 and a corresponding stem 39 projects upwardly into the bottom end of the link and is connected by atension spring 40 with theupper end of the piston rod 29. The stems 3| and 39 engage a lever III on the top and bottom thereof 30 and 'this lever rests on a fulcrum I2 carried by the ,frame It.n 'At the'end of the long arm or'this lever is iixed a dash pot 43 controlled by a valve 'M and having a piston 45. A rod extends up from this piston and carries an open sided yoke 35 cell 30 above'its diaphragm. Counterweights 5I are suspended from the short arm of the lever 4 I The two dash pots are of 'the liquid filled type. Connected to the 4valve chestV I4 is a supply pipe 45 5 2 communicating with the center of'fthe, valve and an exhaust pipe 53 leads fromthe ends" of this chest. A piston valve M of the usual type controls the connection of the pipe 52 with the ends ol'- the cylinder Iii and the connection of 50 these. ends with the exhaust pipe. A Vstem 55 connects this valve with the lever 4| adjacent the dash pot. 1

'lhe upper side of each pressure cell diaphragm is exposed to pressure transmitted to both ele- 55 lments through the pilot linely from the -pipe 25,

miie new through which is controued hy the` position of the valve 2 4.

The 'downward force exerted by the diaphragm V0f cell 30 is transmittedby means, 0f the stem @o `3I to the lever 4I plvoted at the knife edge' sup- "port 42.` This force is balanced by the adjustable weight Q I and also by the tension'of the'spring' y lli, the -upper end of which-is attached to they lever F I1-while its lower end is hooked to the vweight in 5 the form of a dash potpiston 2l. The dash pot 23,0! this pistonis iilledwith a liquid which can nowdrom one side of the dash pot tolanbther through the bypass. the opening of which adjusted by means ofthe valve'li.

Ihe'downward force of'lthefdiaphragm lion` the other hand, is transmitted through the stem 20 to lever-'33 pivoted on the'knife edge sup'-` port 32. This force is' balancdonlyby the ad-x 4 instable weight I1 and bythe tension ofthespring u u awww l www@ mmmwwmmm m www .www m @,mmwwwm EN @www www .mmmwmmmm im@ wmmmmmwwww@ mmwmmmmmmmwm www@ i mmm hummm m. mmm .WMWWMM m Mmmm www. www m M Mmmm? wm www m mm msnm www l Fm umu-mmmu-mw mmm mm um :ma m mm zummmm mmmmm mm www. @n vm .mmmmmmmwmmmmmmmmmmmwwmmmmmm@.MmmmMmmm a a u Hw w umu. n a .n....fmw tmmnsm n ,m m m Mmmm@ www i v mw4 Emi @Mmmm mmnmnm u d mm. M n hmm www, um w. mmmmmm M mxmmwmmmmmmmmmmwm t Mw Mmm mm. Mm mmmmmmmmmw u mm. m www. m mmm mm m mmmmmwmmwm ,.mwmmmm #www m www@ www. m i humm mm m mmf? ,n.nmmw n. .pmb mmmmmwm-mmmmmmwm www mmmmwmmwmmmmwww@ mm, www@ M@mmwfwmmmmmmmmmmwwmwwwm m Wauw wdmwwmmmmmmmwmmmumw x.. mm w through the' valve 24, the movement of the regulator will be reversed and valve 24 opened to keep the constant.

. It should be noted that underV the ordinary conditions the various parts of the regulator are so proportioned and so adjusted as to make `it respond. primarily to the action'of the cell I1 and dash pot 43.

The rate responsive regulator as shown in Figlo ure l is used for downstream pressure regulation;

It can be equally well used also for upstream on a pin 56 instead of pin 23 so as to reverse the movement of valve 24 in respect to movement of l5 operating piston il and provided pilot line 49 is transferred to. upstream connection from the downstream connection shown on Figure 1.

Referring back to Equation C it is seen that in the above described particular embodiment of $0' my invention the primary' impulse takes the form ofrluid pressure as transmitted by the pilot line 45, while the effect of the whole regulator is represented by the amount of movement of the operating piston iland as transmitted by lever 25 22 to va1ve`24 and as affecting the iiow through pipe 25.

Two separate intermediate "eflectsf to whose algebraic sum the effect" of the whole regulator l is proportional, are represented by forces gen- 80 erated in the cells I1 and 3D and as additively` combined on the lever 4i.

The straight line or proportional Yposition relationship between the amount of movement of the operating piston Il and the combination oi'- forces of two cells is provided by the spring 40.'

Since, due to its adjustment, the dash pot 25 provides only a secondary and auxiliary characteristlc of the regulatorKits eifect was omitted in writing the EquationrtC) .A

40 The arbitrary constants of adjustment ki, k2, k1 in the Equation (C) depend upon the relative size oi' the diaphragms, the characteristics of the spring-35 and .the spring 40 leverage rat'os, and upon the adjustment o f the dash-pot bypasses.

el In the-formv of the invention shown in Figure 2 the same two dash pots are used `and are, of

V course, indicated by the same referencecharac'- ters. In this form therod 2 operates a lever 22 which controls Athe valve 24 and the dash pot '4V 25 is carried on the stem =i2 as before. An arm 50 projecting from the cell I1 carries a knife edge fulcrum 59 whereon is poised-a lever 6l on which the' stem/2li presses.y An'adiustable spring 5| pulls upwardly on this lever against'fthe actio 56 of stein 2l and is assisted in this by a sliding weight l2. .This lever has itsend held between the knife edges 48. In this form the dash pot 43 is'mounted on the end of a lever 53 which is supported on a knife edge `fulc'runi-64 carried by the W lrgme i5. 'Ihe other end of this/lever rests on the-stem I5 in astirrup l5. Into' the top end ofthe stirrup. l5 extends a stem zcarrying a .spring seat 51' whereon is seated a spring-i8. The upper end of this spring seats in a spring il seat 5l carriedby a stem lll which projects upwardly and engages the under side of lever 65. A'stirrup 1I connects the 'stems and 1l. AA branched pipe 1 2' carrying auxiliary fluid under pressure communicates with both ends of the cyl- 70 luder'l Il, the ports Il acting sseih'aust ports and being provided witliopposed nozzles '15.V An exhsust pipe 14 leads from the valve chest. At' 15 y support 59. pressure regulation provided lever 22'is pivoted i Vone than the other. This valve has al stem`15 which is connected by a rod l1 with the lever 63. A sliding weight 18 assists in balancing lever 63.

The modified regulator operates as follows.

As before pilot line 43 transmits the fluid pres- 5 sure, which it is desired to keep constant, to the top side of the diaphragm I3. Downward force exerted by the diaphragm is balanced chiefly by the weight 62 and tension of the spring 5i both acting on the lever 60 pivoted on the knife edge A small upward force supporting. diaphragm i8 to a certain extent is exerted also by the compressed coiled spring 68, -which rests upon the right hand side of the lever 63. This lever is supported at the knife edge support -64 l5 and it carries on its left hand end dash pot 43 inside' of which moves the piston 45, as before.

Due to suitable proportioning of parts and ad-- justment of dash 'pot bypass by means of valve 44, the 'dash pot 43 does not appreclably retard 20 the movement of the lever 60.

Since the lever 63 is held practically stationary due to causes explained later, any given change in pressure on the top of the diaphragm I8 means Y a certain definite vertical distance traveled by 25 the diaphragm and therefore a certain definite corresponding change in force exerted `by the spring 58 upon the right hand end of the lever 63. In other words, force on the lever 53i`duc to spring 58 is directly proportional to the pressure 30 on the top of the diaphragm I 8.

The force exerted by the dash pot 43 on the lever 53 is on the other hand, proportionalto the square of the velocity of Amotion of the dash pot piston 45, and therefore to the squareof the' 35 rate at which the pressure is changing on the top of -thediaphragm i8.

' The leverage is so arranged that these two forces are additive in their eifort Vto rock the lever 6 3 on-its support.

The purpose of the rest of the mechanism is to producean effort whichis directly proportional to the" sum of the moments of the above forces in respect to supportV 64. and which atfthe sametime is powerful enough for regulating purposes, 45

such, for instance. as moving the va1ve'24.

The motive force for this effect is supplied by `the auxiliary fluid under pressure entering through pipe 12 and drained out through pipe 14. operating piston Il through adjustable orifices or ports 19.

'I'he amount of fluid passing out of eachrnozzle depends upon the position of myspeclal double seated throttle pilot valve 15.

When the valve 15 is in midway position between thenozzles13 the flow of uidfrom each nozzle is equal and the pressure on b'oth sides of the operating piston Il is also equal since orifices 19 are adjustedgt Produce this effect.

As soon, however, as there is 'a slight vertical motion of the pilot valve 15 from its neutrai position, one nozzleflbecomes more restrictedby the valve than the other nozzle and the difference in pressure on each side ofi the piston -`Il socreated results in its motion'and consequently ip. motion shape', the jet issuing from each -nozzle is delilA ected by the curvature of the valve surface,

facing `the nozrle opening, nearly 180 from its` is' double seated pilot valve which can be moved Fol'isiuil direction.

tofclose either nozzle or can be positioned Vto allow Since the -valve 15 is located veryelose tothe This fluid is admitted t0 both sides of the 50 nozzle it is subjected two forces: one ydue 7,5

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'ro the lever az is attached the desa pot piston flow through the adjustable bypass. The dash' pot l2 is so adjusted that it has practically no restraining eiect upon the movement of the lever l2.

To the lever 91 is attached the pilot valve 95' which controls the movement of the operating piston il. 'I'he motive force for this regulator is provided by the auxiliary fluid under pressure admitted to the upper and lower side of the operating piston Il through the adjustable ports 19.

In its neutral position the valve 90' covers the ports of the tubes 89' an equal amount, and therefore the ilow -of fluid through these ports and consequently pressure on both sides of the operating piston il is equal, since ports i9 are adjusted to be of the same size.

Il'. This friction can 'transmitted through the Therefore no movement of the piston il takes place with valve 90' in neutral position. As soon, however, as the pilot valve 90' is moved a small amount in a vertical direction, the ports of one tube are covered more than those of the other, anci therefore different pressure is imposed on each side of the operating piston I i producing the movement.

The pilot valve 90' is balanced hydraulically and therefore the only force resisting its movementis the friction between it and the tubes be reduced to an insignificant value due to the fact that comparatively large clearance between the valve 90 and tubes Il' has no eil'ect upon the proper operation of the pilot valve.

The fluid passing out of the ports of the tubes Il is drained freely through exhaust pipe 14. In this way no packing is required around the valve stem 9|' and this fact reduces further the force necessary to. operate Vthe pilot valve 90.

The movement of the operating piston Il is lever 22 pivotedat 23 and through the linkage to the stem of valve 24. 'I'he lever 22 of regulator 95 is also attached to the linkage. f f y It will be understood from the drawings that my rate responsive regulator and regulator 95 can move the valve 24 independently. of each other and without aifecting thereby the operation of each other.

It is further understood from the above de- A scription that the application ofv even very small turning moment to 'the lever 41 will result in movement of operating piston il and consequently in changing. 4of tension-of the spring 40 in such manner and to such degree as to balance the moment imposed upon the lever 81.

Since the change of tension of the spring 40 il proportional to its deformation, it follows that the amount of 4movement of the operating piston Il and therefore of valve 24 is proportional to the turning moment imposed upon lever 8l. as-

suming that at the instant under consideration the regulator 95 is stationary. 'Ihe turning moment lon the lever Il is produced by the pressure of liquid' on the bottoml of the-dash pot 9| and is therefore proportional to the liquid pressure. The pressure of liquid, on

the other hand, is proportional to the square of the rate at which the piston 90 moves in respect to dash pot Il. The dash pot is held practically 'stationary due to balancing effect of the spring 49 and, therefore,`it may be assumed that the pressure of liquid in the dash pot 98 on the dash pot bottom and consequently the amount of movement of the fluid ilow regulating valve 24 is proportional to the square of the rate of movement of the piston 80.

l Since, in turn, the rate of movement of the piston 99 is proportional to the rate of change of i the pressure of iluid on the top' of the diaphragm I8, it follows that the amount of movement of the valve 24 is proportional to the square of the rate of change of the fluid pressure on top of the diaphragm as transmitted to it by the pilot pipe If the shape of the valve 24 is so selected as to produce a direct proportionality `between the amount of opening of the valve 24 and the flow of fluid through it, then a given rate of change of pressure on top ofthe diaphragm will provduce a change in iluid ilow through valve 24l which is proportional in magnitude to the squared absolute value of the rate of change of pressure on top of the diaphragm, assuming regulator 95 is stationary. Since, however. the pres- Y sure in pilot line 49 may serve also as an impulse for regulator 95. the actual change in flow through valve 24 will be equal to the algebraic sum of the eiects produced by both the rate responsive regulator and regulator 95. 'I'he effect of each regulator is represented by the amount and direction of movement of the regulator operating levers 22, respectively.

If the regulator 95 has a position characteristicin respect to impulses Ltransmitted to it through the pilot line 49, then the addition of the regu--V lator of Figure 3 in the manner shown in the ilgure to the regulator 95 will transform it into a rate responsive regulator of the characteristic defined in the Equation (C) of this specification.

Now, for the purposes of this application it may be considered that the pipe 25 is a power supply. The diaphragm i9 may be termed an impulse receiving element. Such an impulse re4 ceiving element will vary .in position and velocity of movement upon variations taking place in the power supply. The valve 24 will broadly represent a controlling element for the power supply. 'I'he various elements, including the dash pots and lever system form an operative connection between the impulse receiving element and the controlling element for the power supply, and as `this operative connection does include the dash pot it includes means responsive to the magnitude of the changes impressed on the impulse receiving element and means responsive to the velocity of the changes impressed on the impulse receiving element. Further, the lever system forms means for eilecting additive combination of the effects produced by the means responsive to the magnitude and the means responsive to the velocity of such changes. Finally, the pipe 49 forms means controlled by conditions in the power supply for controlling the impulse receiving element. This 'explanation is here made because there will now be discussed certain modifications wherein some of these elements will appear in other forms than shown in Figures l, 2, and 3.

The form shown in Figure 4 represents a modiflcation suitable for maintaining water at a umform level ina tank. In this and the succeeding forms it is assumed that the regulator used is, in

1o .general, that shown in Figure 2 and, in order to -avoid duplication only the modied partsv of that figure are shown. In this form the pipe 25 is the supply'line for the tank and the valve 24 controls the rate of flow into theA tank and isA .connected to the lever'22 (not shown) by a link I4. An outlet pipe l1 controlled by a valve DI -is used to draw the supply vof water from the tank. The .impulsereceiving element here consists of the oat 99 and the lever |00 connecting the stem 2l and the oat. Further, this tank may be'said rotating shaft |05 driven by the. engine, the power supply being the pipe in Figure 2. Here the impulse receiving element is the governor |06 and lever |01.

In Figure '1 is shown a slight modification of the form shown in Figure 4, the tloat Vbeing eliminated and the pressure cell |1 being used. The tank in this instance is above the regulator and a pipe |`|il connects the tank to the pressure cell above the diaphragm i8. Obviously a closed tank carrying gas pressure may be used in this form.

Figure 8 illustrates a modlcation for control- .ling an engine A tank |09 and a rotating pump |||i are used to produce pressure on diaphragm .It of the usual cell I1. 'Ihe pump shaft is driven by the engine. The intake of. the pump receives liquid from the -tank and Apumps it through valved pipe ||2 to the cell |15 A vvalved bypass ||3 connectspipe ||2 and the vtank and,.by proper adjustment of the valves, thev pressure on diaphragm il and consequently the engine4 speed. can be regulated.

1..A motor control is shown in Figure l0. A motor ||6 receives current through power lines |I'l and ||8. One ofthese power lines has a .solenoid IIS included in it, this solenoid being connected to the stem 20. The lever 22 moves .the contact |20 over the resistance |2|, the lever and resistance forming parts'of the motor supply line. Variations in the current will affect the solenoid and the regulator will, through lever 22, vary the resistance to compensate for such current variations.

Temperature. regulation may be effected by my regulator in the way shown in Figure 9. The thermostatic bulb l2. is partially lled with liquid |29 of a suitable boiling point. The pressure generated by the -vaporization of liquid. |29 will vdepend. upon the temperature of medium |34` surrounding .bulb |28, This pressure is transmitted .to the pressure cell of the regulator through the tube |21. The arm 22, not shown in this figure', is arranged to control the supply of heat energy to medium |34 in sucha way as to increase the heat supply when the temperature is decreasing, and vice versa.v

The constant flow regulation of the fluid l'n a closed conduit is illustrated in Figure 5. In this application the pressure cell I1 is provided with connections |3||and |3| on the top and bottom respectively. Connection |30 takes the iluid pressure from the point ahead of the Venturi tube |22 inserted in the conduit, while connection |3| transmits the pressure existing at the throat of 'the'.Venturi' tube. Valve 24, vnot shown in this figure, controls the supply of iluid to the conduit, in which theflow is to be kept constant.

In Figure 1l is shown a modification of the rate responsive element proper of the regulator, wherein the dash pot 42 and its piston 4l are replaced by solenoids |22 and |23. More specically the piston 45 is replaced by the magnetic s core |24 of the solenoid |22. The electrical, connections between these solenoids include a battery |25 and a three element valve |2l,"so that the weak. currents produced. by movement of the core |24 with respect to its winding are lo. amplified in a fixed ratio on the way to solenoid |22.

'I'he strength of the current producedby the 'solenoid |22 is directly proportional to the velocity of movement of the core |24 in respect to i6 its winding, and it is therefore proportional in they rate at which the power impulses applied to stem 20 are increasing or decreasing.

Since the corev |33 is attached to lever. 6I and since this core is attracted into solenoid |23 with mi' a force proportional to the current flowing through the winding of solenoid- |22, it follows that the characteristic of the regulator shown on Figure 2, and as modiiled in accordance with the Figure 1l. can be expressed mathematically 25 also by the equations B and C of this specifical tion.

In the principal forms of my regulator, shown in Figures l, 2, and 3, the impulses takethe form of uid pressure transmitted through. a 301 pilot line. The pressure responsive element of the regulator in the form of a diaphragm produces a force which is proportional to the fluid pressure and to which the regulator responds.

Since any primary impulse irrespective of vits 35'. form can be transformed by means known to the art into a force proportional to the primary impulse, it is evident that the application of myv rate responsive regulator is in no. way limited to these particular cases in which impulse takes the form of a iluid pressure, but that it can be equally well adapted to any other power flow control problem whatsoever, the representative examples of which were cited above in the speciilcation, as well as shown'in Figures 4, 5, 6, '1, 8, is `i). and 10.

Similarly, the eilect of my regulator is not' limited to the control of fluid flow by means of a throttle valve, but may be equally well adapted to the control of any power ilow through any gaf other means known to the art. i

Likewise, the rate responsivefeature proper of my regulator does not need to be necessarily based on the effect of dash pot in generating the pressure of liquid in it in response to the si movement of its piston, since similar results can be obtained from the rate responsive element proper based, for instance, upon' the weil known action of a magnet moving in respectto an electric coil in producing the electric current in the coil which is proportional to the velocity of movement of a magnetic field in respect to the coil, as is shown in Figure 11, or upon the action of a hydraulic, pneumatic, electrical or other equivalent of a dash pot. s

The strictly operating parts oi' my regulator also are not limited to the particular forms described in this specification, since any effect magnifying apparatus of straight line characterlistic and sumcient sensitiveness and accuracy 70 can Ibe adopted for this service.

In general, I do not want to limit my. invention to the particular preferred' embodiments described in this specification, ysince any apparatus or combination of apparatus havingthe charac- 7g teristic dened in the Equations (C) and (C') ot this specification falls into' the scope` of this invention.

I claim:

.g l. In a regiator for a` power supply, animpulse receiving element, a main controlling element for the power supply, an operative connection between the impulse receiving element and the controlling element including means 1o linearly responsive to the magnitude of changes impressed on the impulse receiving element and means linearly responsive to all velocities of such changes, said connection forming means for effectlng additive combination of the effects proll. duced by the means linearly responsive to the magnitude and means linearly responsive to the velocity of such changes, means arranged lto actuate the maincontrolling element in unison with the said additive combination of the effects,

I and means for producing impulse effected changes in the impulse receiving element and controlled by the power supply.

2. In a regulator for a power supply, an impulse receiving element, a main controlling element for the' power supply.'` and an operative connection between theimpulse receiving element and the controlling element including means linearly responsive tothe magnitude of changes impressed'on the impulse receiving element and means linearly responsive to all velocities oi such changes; said connection further including a power actuated movable element having the main controlling. element connected thereto; this power actuated movable element arranged to move in unison with the algebraic sum oi' the responses of the said two means.

3. In a regulator'for a powersupply an impulse receiving element, a main controlling element for the power supply, an operative con- 40 nection between the impulse receiving element and the controlling element including means linearly responsive to the magnitude of changes oi' impulses impressed on the impulse receiving element and'means linearly responsive to all velocities of such changes, said connections forming means for effecting additive combination of the effects produced by-the means linearly responsive to the magnitude of such changes and the means linearly respbnsive to the velocity of 5 0 such changes, said connections further including' a power actuated movable element, having the `controlling element connected thereto, and a" valve controlling the supply of power actuating the'movable element, said valve being arranged to be' actuated bythe said meansfor effecting' the additive combination of the effects in proportion to' -theaddmve combinatigngijhe effects produced by the means linearly responsive to the magnitude and the means linearly responsive to 0.0 the velocity of changes' of.- the impunes, and

said connections further including means operatively connected to the movable element and the valve and arranged to effect the counteracnon of the first said actuation or the'vaive inv '5- proportion to' the amount of movement ofthe movable element, said impulses being effected by the changes in power supply controlled by the controlling element. l

4. In a regulator for a power supply an impulse 70 receiving element, a main controlling element for the power supply, an operative connection between the impulse receiving element and the controlling element including means linearly're-v IL sponsive to the magnitude of changes ofi-mpulses '!"'imfpressed on the impulse receiving element and means linearly responsive to all velocities of such changes, said connection forming means for effecting additive combination of the effects produced by the means linearly responsive to the magnitude and the means Nlinearly responsive 5 to the velocity of such changes, said connection further including a movable element actuated by a fluid under pressure. having the controlling element connected thereto, said movable element being linearly affected through the intermediary 10 of said pilot valve by the additive combination of the effects produced by the means linearly responsive to the magnitude and the means linearly responsive to the velocity of such changes, said movable element having the supply of the 15 fluid lto it controlled by a double seated pilotsvalve restricting -flow of fluid from two nozzles placed in opposition to each other, the valve being so shaped as to be balanced in any of its positions between the nozzles by the combined ac- 20 tion of the static and velocity head of the uid' jets issuing from the nozzles and striking both seats of the valve.

5. In a regulator for a power supply an'impulse receiving element, a main controlling element for 95 the power supply, an operative connection between the impulse receiving element and the controlling element including means linearly responsive to the magnitude of changes of impulses impressed on the impulse receiving element and so means linearly responsive to all velocities of such changessaid connections forming means for efiecting additive combination of the effects produced by the means linearly responsive to the magnitude and the means linearly responsive to 35- the velocity of such changes, said connections further including a movable element, actuated by a iluld under pressure, having the controlling element connected thereto, saidn/iovable element being affected through the intermediary of said o pilot` valve t by the additive combination of the effects produced by the means linearly responsive to the magnitude and the means linearly responsive to the velocity of such changes, said movable element having the supply of fluid to it controlled 45' by acylindrical pilot valve sliding on two blind end tubes placed in opposition tol each other and provided with circumferential slots near the ends, covered partiallyy or totally by the pilot valve dcpending on its position. I 50 6. 'In a system comprising an energy flow control member and a motor supplied with a form of energy the flow of which to the motor is capable 4of being controlled by the said energy flow control member proper belonging to the system, said motor converting this energy into another form of energy the flow of which from the motor varies under the influence of factors external to the system, and a regulator responding to the variation in the motorspeed arranged to produce libre- 00 sponse to the variation ofgthe'motorspeed' the actuation of the 'energy flow control member proper; an auxiliary regulating means consisting of: a coll of electricity conducting' wire, a,n magnetic member arranged to produce a mag- Vnetic field'and so located as to cause/apart of this -magnetic field to intersect the wire, means responsive to the variation of the motor speed and arranged to move the coil and the magnetic member in respect to eachother in unison with variation of the motor speed, means responsive to theelectromotive force generated by variation in the intensity of the magnetic ileld interf secting the wire produced by therelative move-A ment oi' the coil in respect to the magnetic me'm- 'u termediary of the regulator in response to the varhtion'ot this electromotive torce, the actuation oi-the energy llow control member proper oi a magnitude proportional, at any given moment,toandofthedirectionequal,atanygiven moment, to the magnitude and the direction reofsaidcylinder,'n.pistairodcarriedbysaidpis-- ton,`a control valve for the power tobe regulated, an operative connection between said valve and thepiston rod,'a lever,meansfor holding said lever in -normally position', a yieldable connection between said lever and pistou rod. an

operative connection between said lever and the said valve means, a second leverfmeans for holding the second lever in normally balanced posltlai, a yleldable connection between said levers,

andmeansactuatedbythepowertoberegulated and operatively connected tothesecond lever to move the latter as changcsoccur in the power -t oberegulated.

8'.Inanautmllaticregulator,acylini'ler,apiston movable in said cylinder, a fluidv pressure supply. valve means controlling the on and exhaust of iluid from said supply to the ends of said cylinder, a piston rod carriedby said piston, a control valve' for the power to be regulated, an operative connection'between said valve and the piston rod, a lever, means for holding said lever in normally position,-a` yieldable connection between said lever and piston rod, an operative connection between said lever and the said valve means, a second' lever,

means for holding the second lever in normally balanced position, a dash pot carried by `one of saidjlevers Vand having a piston t.herein,-aV rod extendingirom the dash pat piston andconnected totheotherlever,andrneansactuatedbythe power to be regulated and operatively connected tothesecondievertomovethelatteraschanges occur in thepower to be regulated.

9. In an automatic regulator, a cylinder, a piston movable in said cylinder! a iiuid pressure sup'- ply, valve means controllim" the` admision and exhaust oi iluid from said supply tothe ends of said cylinder, a piston rod carriedby said piston, a control valve for the power to be regulated, an operative connection between said valve and the piston rod, a lever, means for holding said lever in 'normally balanced' position, a yieidable connection between said lever and piston rod, an 'operative connection between said lever and the said valve means, a second lever, means for holdingthesecondleverinnormallybalancedposltion, a yieldable connection between said levers, a iluid pressure ceil receiving fluid under pressure from the lluidto be regulated, and a stem' projecting from said cell and said sechead in said duid.

.sure supply for said cylinder. valve means conameri berandarrangedtoproducathroughtheim' ll. In an automatic duid regulator, a A2li apiston movablein said cylinder, ailuid supply-for said cylinder, valve means controlling carried by said piston, an operative connection between saidpiston rod and control valvea lever pivoted intermediate its ends. an operative. connectlon between said lever and said valve means. a yieldable connection between said leverA andf piston rod, a second lever substantially parallel come am lever, s dash pot and piston connection between said levers, spring meansurging said second lever to normal and means. o peratedi'romtheiluid toberegulatedandmovingw said second lever in accordance wlthcbangesoi l2. In an automatic duid a-cylinder. a piston movable in said cylinder, a iiuid prestrolling the admission and exhaust ofliuid-received from said supply to the ends of said cylinder, a control valve forthe duid to be'regulated.

apiston r'od carried by said piston,an operative connection between said piston rod' and control s0 valve, a lever pivoted Aintermediate its .endspan operative connection between said lever and said .valve means, a yieldable connection between said -ing said second lever tonormal positlon,.a iluid pressure cell receiving duid underpressuretrom the duid to be regulated, and a stem projecting from said cell and engaging said second-leverfso said stem being movable ln accordancewithwariations ofpressurein saidcell. w- .I- v

13. In an automatic iluid pressure regulatona cylinder, a piston movable in said cylinder, a d uld pressure supply for said cylinder, a valve con-'c5 trolling the on of iiuid from said supply to the ends of the cylinder and controlling the exhaustottluidiromsaidends,apistonrodcarried by said piston, a control valve forthe iluld to be regulated, an operative connection between said 7o control valve and the piston rod. a lever fulcr'umed intermediate its-ends, a second lever fulcrumed intermediate its ends to swing in the same plane as the first lever, an operative connection between the lirst lever and the iirst'mentioned :s

valve, a dash pot carried by one end of one of said levers, a piston in said dash pot carried by the corresponding end of the remaining lever, a

springV urging said second lever to move in one direction, a fluid pressure cell having a diaphragm therein and receiving fluid from the fluid under pressure to be regulated, a stem carried by said diaphragm and engaging the second lever to urge it to move. against the action of said spring, and a yieldable connection between the first lever and piston rod.

14. In an automatic fluid pressure regulator, a cylinder, a piston movable in said cylinder, a uid pressure supply for said cylinder, a valve controlling the admission of fluid from said supply to the ends oi' the cylinder and controlling the exliaust of fluid from said ends, a piston rod carried-by said piston, a control valve for the fluid A to be regulated, an operative connection between said control valve and the piston rod, a lever fulcrumed intermediate its ends, a second lever fulcrumed intermediate its ends to swing in the same plane as the first lever, an operative connection between the first lever and the first mentioned valve, a' dash pot carried by vone end of one of said levers, a piston in said dash pot carried by the corresponding end of the remaining lever, a spring urging said second lever to move in one direction, a. fluid pressure cell having a diaphragm therein and receiving fluid from the fluid under pressure to be regulated, a stem car'- ried by said diaphragm and engaging the secondA lever to urge it to move against the action of said spring, a dash pot carried' by said piston rod, a spring connected to the first lever, and a piston carried by said spring and fitting the last mentioned dash pot.

I5. In an automatic fluid pressure regulator, y

cylinder, a piston movable in said cylinder, a fluid 'pressure supply for-said cylinder, a valve controlling the admission of fluid from said supply to. the ends of the cylinder and controlling the .exhaust of fluid from said ends, a piston rod carried by said piston, a control valve for the iiuid to be regulated, an operative` connection between said control valve and the piston rod,

f i lever fulcrumed intermediate its ends, a sec- Yond. lever fulcrumed intermediate its ends to wing in the same plane as the rst lever, an operative connection between the first lever and the first mentioned valve, a dash pot carried by one end of one of said levers, a piston in said dash :,pot carried by the corresponding end of the remaining lever, a spring urging said second lever to move in one direction. a fluid pressure cell havving a diaphragm therein and receiving fluid from the fluid under pressure to be regulated, a stem carried by said diaphragm and engaging the second lever to urge it to move against the action of said spring, a secondfiuid pressure cell interc posed between said levers end supporting the fulcrum of the second lever, said'second cell having n diaphragm and a stem connected to the first lever, and a pipe connection between the pressure sides of said cells. 'y A 18. In an automatic fluid'pressure regulator, a cylinder, a piston movable in-said cylinder, a fluid pressure'supply for said cylinder, a valve controlling the admission of fluid from said supply to the ends ci' the cylinder and controlling the Vexhaust of fluid from said ends, apiston rod 'carried by said piston, a control valve 4for the uid to be regulated, an operative connection between said control valve and the piston rod,

a lever fulcrumed intermediate its ends, a second lever fulcrumed intermediate its ends to swing in the same plane as the first lever, an operative connection between the first lever and the first mentioned valve, a dash pot carried by one end of one of said levers, a piston in said dash pot carried by the corresponding end of the remaining lever, a spring urging said second lever to move in one direction, a. fluid pressure cell having a diaphragm therein and receiving fluid from the fluid under pressure to be regulated, a stem carried by said diaphragm and engaging the second lever to urge it to move against the action of said spring, a, dash pot carried by said piston rod, a spring connected to the first lever, a second fluid pressure cell interposed between said levers and supporting the fulcrum of the second lever, said second cell having a diaphragm and a stem connected to the first lever, and a pipe connection between pressure sides of said cells.

17. In an automatic fluid pressure regulator, a cylinder, a piston movable in said cylinder, a fluid pressure supply for said cylinder, a valve controlling the admission of fluid from said supply to the ends of the cylinder and controlling .the exhaust of fluid from said ends, a piston rod carried by said piston, a control valve for the fluid to be regulated, an operative connection between said control valve andthe piston rod, a lever flcrumed intermediate its ends, al second lever fulcrumed intermediate its ends to swing in the same plane as the first lever, an operative connection between the first lever and the first mentioned valve, a dash pot carriedvby one end of one of ,said levers', a piston in said dash pot carried by the corresponding end of the remaining lever, a spring urging said second lever to move in one direction, a fluid pressure cell .having a diaphragm therein and receiving fluid from the fluid under pressure to be regulated, 4U a stem carried by' said diaphragm and engaging the second lever to urge it to move against the action of 'said' spring, and a spring interposed between said levers in opposition to said dash DOt. r

18. In an automatic fluid pressure regulator, a cylinder, a piston movable in said cylinder, a fluid pressure supply for said cylinder, a'valve controlling the admission -of fluid from said supply to the ends of the cylinder and controlling the u exhaust of-fluid from said ends, a piston rod carried byvsaid piston, a control valve for the fluid to be regulated, an operative connection between said control valve and the piston rod, a lever fulcrumed intermediate its ends, a second lever fulcrurned intermediate its ends to swing in the same plane as the first lever, an operative connection between the first lever and the first mentioned valve, a dash po't'carried by one end of one of said levers, a piston in said dash 00 pot carried by the' corresponding end of theremaining lever, a spring urging said second leveringto move in one direction, a -fluid pressure cell having a" diaphragm therein and receiving fluid from thefluid under pressure to be regulated, a o5 stem carried by said diaphragm and engaging the second lever to urge it to move against the action ofisaid spring, a dash pot carried by said piston rod, a spring connected tothe first lever, and a spring interposed between said levers in opposition to said dash pot.

19. In an'automatlc-fiuid pressure regulator, a cylinder, a piston movable in said cylinder, afluid pressure supply for said cylinder, a valve con.- trolling-the admission of uid from said supply 7i 

